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Dependencies:   DriveConroller IMU MDD Mycan Odometer PID RotaryEncoder UART USS mbed

Fork of AR_MastarNode by MEC-B

main.cpp@3:6b4adb4d7101, 2018-08-07 (annotated)

Committer:
TanakaTarou
Date:
Tue Aug 07 08:17:52 2018 +0000
Revision:
3:6b4adb4d7101
Parent:
2:7af15d4ee55a
Child:
4:9f74525eb37f
8/7????????????????????

Who changed what in which revision?

UserRevisionLine numberNew contents of line
TanakaTarou 0:6db16ad02a1b 1 #include "mbed.h"
TanakaTarou 0:6db16ad02a1b 2 #include "DriveController.h"
TanakaTarou 0:6db16ad02a1b 3 #include "IMU.h"
TanakaTarou 0:6db16ad02a1b 4 #include "MDD.h"
TanakaTarou 0:6db16ad02a1b 5 #include "MDD2.h"
TanakaTarou 0:6db16ad02a1b 6 #include "Mycan.h"
TanakaTarou 0:6db16ad02a1b 7 #include "Odometer.h"
TanakaTarou 0:6db16ad02a1b 8 #include "PID.h"
TanakaTarou 0:6db16ad02a1b 9 #include "RotaryEncoder.h"
TanakaTarou 0:6db16ad02a1b 10 #include "CSV.h"
TanakaTarou 0:6db16ad02a1b 11 #include "SBUS.h"
TanakaTarou 0:6db16ad02a1b 12 #include "USS.h"
TanakaTarou 0:6db16ad02a1b 13 #include "hardwareConfig.h"
TanakaTarou 0:6db16ad02a1b 14
TanakaTarou 0:6db16ad02a1b 15 //(X, Y, θ, speed, angle, injection, 補給昇降)
TanakaTarou 3:6b4adb4d7101 16 float position[13][6] = {{0.0, 0.0, 0.0, 0, 90, 0},//初期位置
TanakaTarou 3:6b4adb4d7101 17 {-1.0, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化
TanakaTarou 3:6b4adb4d7101 18 {-1.0, 20.0, 0.0, 0, 82, 0},//y移動
TanakaTarou 3:6b4adb4d7101 19 {-1.0, 20.0, 0.0, 35, 82, 0},//発射
TanakaTarou 3:6b4adb4d7101 20 {-1.0, 0.0, 0.0, 0, 90, 0},//y移動,角度戻す, P上昇
TanakaTarou 0:6db16ad02a1b 21
TanakaTarou 3:6b4adb4d7101 22 {-2.0, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 3:6b4adb4d7101 23 {-2.0, 20.0, 0.0, 0, 82, 0},//y移動
TanakaTarou 3:6b4adb4d7101 24 {-2.0, 20.0, 0.0, 35, 82, 0},//発射
TanakaTarou 3:6b4adb4d7101 25 {-2.0, 0.0, 0.0, 0, 90, 1},//y移動,角度戻す, P上昇
TanakaTarou 0:6db16ad02a1b 26
TanakaTarou 3:6b4adb4d7101 27 {-3.0, 0.0, 0.0, 0, 82, 0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 3:6b4adb4d7101 28 {-3.0, 20.0, 0.0, 0, 82, 0},//y移動
TanakaTarou 3:6b4adb4d7101 29 {-3.0, 20.0, 0.0, 35, 82, 0},//発射
TanakaTarou 3:6b4adb4d7101 30 {-3.0, 0.0, 0.0, 0, 90, 1},//y移動,角度戻す, P上昇
TanakaTarou 0:6db16ad02a1b 31 /*
TanakaTarou 3:6b4adb4d7101 32 {3.0, 0.0, 0.0, 20, 80, 0.0},//x移動, 角度変化, 下降&バットマン駆動
TanakaTarou 3:6b4adb4d7101 33 {3.0, 2.5, 0.0, 20, 80, 0.0},//y移動
TanakaTarou 3:6b4adb4d7101 34 {3.0, 2.5, 0.0, 20, 80, 0.0},//下段に発射
TanakaTarou 3:6b4adb4d7101 35 {3.0, 2.5, 0.0, 20, 90, 6.8},//角度戻す, P上昇
TanakaTarou 3:6b4adb4d7101 36 {3.0, 2.5, 0.0, 20, 80, 0.0},//角度変化, 下降&バットマン駆動
TanakaTarou 3:6b4adb4d7101 37 {3.0, 2.5, 0.0, 20, 80, 0.0},//上段に発射
TanakaTarou 0:6db16ad02a1b 38 */
TanakaTarou 0:6db16ad02a1b 39 };
TanakaTarou 0:6db16ad02a1b 40
TanakaTarou 0:6db16ad02a1b 41 controller getPropoData();
TanakaTarou 3:6b4adb4d7101 42 bool isConvergetnceTops();
TanakaTarou 0:6db16ad02a1b 43
TanakaTarou 0:6db16ad02a1b 44 //x軸補正用 PID
soyooo 1:d7ceb38da3d8 45 PID pidRobotX(2, 0, 0, 0.01, 0.3, &timer);
TanakaTarou 0:6db16ad02a1b 46 float target_x = 0;
TanakaTarou 0:6db16ad02a1b 47
TanakaTarou 0:6db16ad02a1b 48 //y軸補正用 PID
soyooo 1:d7ceb38da3d8 49 PID pidRobotY(2, 0, 0, 0.01, 0.3, &timer);
TanakaTarou 0:6db16ad02a1b 50 float target_y = 0;
TanakaTarou 0:6db16ad02a1b 51
soyooo 1:d7ceb38da3d8 52 //yow角補正用 (Pgain, Igain, Dgain, 制御ループ時間[s], 計算出力100%定義)
soyooo 1:d7ceb38da3d8 53 PID pidRobotYow(0.05, 0, 0, 0.01, 0.95, &timer);
soyooo 1:d7ceb38da3d8 54 float target_yow = 0;
soyooo 1:d7ceb38da3d8 55
TanakaTarou 0:6db16ad02a1b 56 //USS用
TanakaTarou 3:6b4adb4d7101 57 PID pidUss(0.04, 0, 0, 0.01, 0.3, &timer);
TanakaTarou 0:6db16ad02a1b 58 float target_uss = 25.0;
TanakaTarou 0:6db16ad02a1b 59
TanakaTarou 3:6b4adb4d7101 60 int posi_num = 0;
TanakaTarou 3:6b4adb4d7101 61
TanakaTarou 0:6db16ad02a1b 62 int main()
TanakaTarou 0:6db16ad02a1b 63 {
TanakaTarou 0:6db16ad02a1b 64 //タイマー３の優先度を最低にする
TanakaTarou 0:6db16ad02a1b 65 NVIC_SetPriority(TIMER3_IRQn, 100);
TanakaTarou 0:6db16ad02a1b 66
TanakaTarou 0:6db16ad02a1b 67 //IMUのキャリブレーション
TanakaTarou 0:6db16ad02a1b 68 imu.performCalibration();
TanakaTarou 0:6db16ad02a1b 69 imu.startAngleComputing();
TanakaTarou 0:6db16ad02a1b 70
TanakaTarou 0:6db16ad02a1b 71 for(int i; i < 3; i++)
TanakaTarou 0:6db16ad02a1b 72 enc[i].changeDirection();
TanakaTarou 0:6db16ad02a1b 73
TanakaTarou 0:6db16ad02a1b 74 //オドメーターの定義
TanakaTarou 0:6db16ad02a1b 75 float matrix[3][3] = {{1, 0, 0},
TanakaTarou 0:6db16ad02a1b 76 {0, 1, 0},
TanakaTarou 0:6db16ad02a1b 77 {0, 0, 0}
TanakaTarou 0:6db16ad02a1b 78 };
TanakaTarou 0:6db16ad02a1b 79 Odometer odm(matrix, 0.048);
TanakaTarou 0:6db16ad02a1b 80 float tmp = 0;
TanakaTarou 0:6db16ad02a1b 81 float *encoders[3] = {&enc[0].rotations, &enc[1].rotations, &tmp};
TanakaTarou 0:6db16ad02a1b 82 odm.setupOdometerSensors(encoders, &imu.angle[2]);
TanakaTarou 0:6db16ad02a1b 83 odm.startComputingOdometry(0.005, 0, 0, 0);
TanakaTarou 0:6db16ad02a1b 84
TanakaTarou 0:6db16ad02a1b 85 //オドメーターX
TanakaTarou 0:6db16ad02a1b 86 pidRobotX.sensor = &odm.x;
TanakaTarou 0:6db16ad02a1b 87 pidRobotX.target = &target_x;
TanakaTarou 0:6db16ad02a1b 88 pidRobotX.start();
TanakaTarou 0:6db16ad02a1b 89
TanakaTarou 0:6db16ad02a1b 90 //オドメーターY
TanakaTarou 0:6db16ad02a1b 91 pidRobotY.sensor = &odm.y;
TanakaTarou 0:6db16ad02a1b 92 pidRobotY.target = &target_y;
TanakaTarou 0:6db16ad02a1b 93 pidRobotY.start();
soyooo 1:d7ceb38da3d8 94
TanakaTarou 3:6b4adb4d7101 95 //IMUジャイロ
soyooo 1:d7ceb38da3d8 96 mecanum.imu_yow = &imu.angle[2];
soyooo 1:d7ceb38da3d8 97 pidRobotYow.sensor = &imu.angle[2];
soyooo 1:d7ceb38da3d8 98 pidRobotYow.target = &target_yow;
soyooo 1:d7ceb38da3d8 99 pidRobotYow.start();
soyooo 1:d7ceb38da3d8 100
TanakaTarou 3:6b4adb4d7101 101 //超音波 PID設定
TanakaTarou 0:6db16ad02a1b 102 uss.startTriger();
TanakaTarou 0:6db16ad02a1b 103 pidUss.sensor = &uss.distance;
TanakaTarou 0:6db16ad02a1b 104 pidUss.target = &target_uss;
TanakaTarou 0:6db16ad02a1b 105 pidUss.start();
soyooo 1:d7ceb38da3d8 106
soyooo 1:d7ceb38da3d8 107 pidRobotX.allowable_error = 0.1;
soyooo 1:d7ceb38da3d8 108 pidRobotY.allowable_error = 0.1;
soyooo 1:d7ceb38da3d8 109 pidRobotYow.allowable_error = 2;
soyooo 1:d7ceb38da3d8 110 pidUss.allowable_error = 3;
soyooo 1:d7ceb38da3d8 111
TanakaTarou 3:6b4adb4d7101 112 sw1.mode(PullUp);
TanakaTarou 3:6b4adb4d7101 113 sw2.mode(PullUp);
TanakaTarou 3:6b4adb4d7101 114
TanakaTarou 0:6db16ad02a1b 115 while(1)
TanakaTarou 0:6db16ad02a1b 116 {
TanakaTarou 0:6db16ad02a1b 117 controller cmd = getPropoData(); //getPropoData & getCanData
TanakaTarou 0:6db16ad02a1b 118
TanakaTarou 3:6b4adb4d7101 119 can.set(1, 1, int(position[posi_num][3]));
TanakaTarou 3:6b4adb4d7101 120 can.set(1, 2, int(position[posi_num][4]));
TanakaTarou 3:6b4adb4d7101 121 //can.set(1, 3, int(position[posi_num][5]));
TanakaTarou 3:6b4adb4d7101 122 while(can.send() == 0);
TanakaTarou 3:6b4adb4d7101 123
TanakaTarou 2:7af15d4ee55a 124 can.read();
soyooo 1:d7ceb38da3d8 125
TanakaTarou 3:6b4adb4d7101 126 if(pidRobotX.isConvergence(1) == 1
TanakaTarou 3:6b4adb4d7101 127 && pidRobotYow.isConvergence(1) == 1)
soyooo 1:d7ceb38da3d8 128 {
TanakaTarou 3:6b4adb4d7101 129 if(position[posi_num][1] >= 10)
TanakaTarou 3:6b4adb4d7101 130 {
TanakaTarou 3:6b4adb4d7101 131 if(pidUss.isConvergence(1) == 1
TanakaTarou 3:6b4adb4d7101 132 && isConvergetnceTops() == 1)
TanakaTarou 3:6b4adb4d7101 133 posi_num++;
TanakaTarou 3:6b4adb4d7101 134 }
TanakaTarou 3:6b4adb4d7101 135 else if(pidRobotY.isConvergence(1) == 1)
soyooo 1:d7ceb38da3d8 136 posi_num++;
soyooo 1:d7ceb38da3d8 137 }
soyooo 1:d7ceb38da3d8 138
TanakaTarou 3:6b4adb4d7101 139 if(posi_num >= 13)
soyooo 1:d7ceb38da3d8 140 posi_num = 0;
soyooo 1:d7ceb38da3d8 141
TanakaTarou 0:6db16ad02a1b 142 //ロボットの移動速度(LX, LY, RX)
TanakaTarou 0:6db16ad02a1b 143 float robot_velocity[3];
TanakaTarou 0:6db16ad02a1b 144
TanakaTarou 0:6db16ad02a1b 145 //yow角調整処理
TanakaTarou 0:6db16ad02a1b 146 *pidRobotYow.target = position[posi_num][2];
TanakaTarou 0:6db16ad02a1b 147 robot_velocity[2] = pidRobotYow.output;
TanakaTarou 0:6db16ad02a1b 148
TanakaTarou 0:6db16ad02a1b 149 //x軸調整処理
TanakaTarou 0:6db16ad02a1b 150 *pidRobotX.target = position[posi_num][0];
TanakaTarou 0:6db16ad02a1b 151 robot_velocity[0] = pidRobotX.output;
TanakaTarou 0:6db16ad02a1b 152
TanakaTarou 0:6db16ad02a1b 153 //USS距離調整処理
soyooo 1:d7ceb38da3d8 154 if(position[posi_num][1] >= 10)
TanakaTarou 0:6db16ad02a1b 155 {
soyooo 1:d7ceb38da3d8 156 *pidUss.target = position[posi_num][1] - 10;
TanakaTarou 0:6db16ad02a1b 157 robot_velocity[1] = -pidUss.output;
TanakaTarou 0:6db16ad02a1b 158 }
TanakaTarou 0:6db16ad02a1b 159 else
TanakaTarou 0:6db16ad02a1b 160 {
TanakaTarou 0:6db16ad02a1b 161 //y軸調整処理
TanakaTarou 0:6db16ad02a1b 162 *pidRobotY.target = position[posi_num][1];
TanakaTarou 0:6db16ad02a1b 163 robot_velocity[1] = pidRobotY.output;
TanakaTarou 0:6db16ad02a1b 164 }
TanakaTarou 3:6b4adb4d7101 165
TanakaTarou 3:6b4adb4d7101 166 if(sw1 == 1 && sw2 == 1)
TanakaTarou 0:6db16ad02a1b 167 {
TanakaTarou 0:6db16ad02a1b 168 imu.angle[2] = 0;
TanakaTarou 0:6db16ad02a1b 169 odm.y = 0;
TanakaTarou 0:6db16ad02a1b 170 }
TanakaTarou 0:6db16ad02a1b 171
TanakaTarou 0:6db16ad02a1b 172 //ホイール速度計算
TanakaTarou 0:6db16ad02a1b 173 mecanum.setVelL(robot_velocity);
TanakaTarou 0:6db16ad02a1b 174 mecanum.computeWheelVel();
TanakaTarou 0:6db16ad02a1b 175 mecanum.rescaleWheelVel();
TanakaTarou 0:6db16ad02a1b 176
TanakaTarou 0:6db16ad02a1b 177 //モーターの駆動
TanakaTarou 0:6db16ad02a1b 178 for(int i = 0; i < 4; i++)
TanakaTarou 3:6b4adb4d7101 179 Motor[i].drive(mecanum.wheel_vel[i]);
TanakaTarou 0:6db16ad02a1b 180
TanakaTarou 3:6b4adb4d7101 181 pc.printf("%.2f\t", odm.x);
TanakaTarou 3:6b4adb4d7101 182 pc.printf("%.2f\t", odm.y);
TanakaTarou 3:6b4adb4d7101 183 pc.printf("%.2f\t", imu.angle[2]);
TanakaTarou 3:6b4adb4d7101 184 pc.printf("%.2f\t", uss.distance);
TanakaTarou 0:6db16ad02a1b 185 pc.printf("\n");
TanakaTarou 2:7af15d4ee55a 186
TanakaTarou 3:6b4adb4d7101 187 wait(0.01);
TanakaTarou 0:6db16ad02a1b 188 }
TanakaTarou 0:6db16ad02a1b 189 }
TanakaTarou 0:6db16ad02a1b 190
TanakaTarou 0:6db16ad02a1b 191 controller getPropoData()
TanakaTarou 0:6db16ad02a1b 192 {
TanakaTarou 0:6db16ad02a1b 193 float dead_zone = 0.05;
TanakaTarou 0:6db16ad02a1b 194 controller propo;
TanakaTarou 0:6db16ad02a1b 195 sbus.isFailSafe();
TanakaTarou 0:6db16ad02a1b 196
TanakaTarou 0:6db16ad02a1b 197 //propo直接コントロール
TanakaTarou 0:6db16ad02a1b 198 if(sbus.isFailSafe())
TanakaTarou 0:6db16ad02a1b 199 {
TanakaTarou 0:6db16ad02a1b 200 propo.LX = propo.LY = propo.RX = propo.RY = 0;
TanakaTarou 0:6db16ad02a1b 201 propo.H = propo.A = propo.D = propo.F = propo.G = propo.fail_safe = 0;
TanakaTarou 0:6db16ad02a1b 202 }
TanakaTarou 0:6db16ad02a1b 203 else
TanakaTarou 0:6db16ad02a1b 204 {
TanakaTarou 0:6db16ad02a1b 205 propo.LX = sbus.getStickVal(0) / 255.0;
TanakaTarou 0:6db16ad02a1b 206 propo.LY = sbus.getStickVal(1) / 255.0;
TanakaTarou 0:6db16ad02a1b 207 propo.RX = -sbus.getStickVal(2) / 255.0;
TanakaTarou 0:6db16ad02a1b 208 propo.RY = sbus.getStickVal(3) / 255.0;
TanakaTarou 0:6db16ad02a1b 209 propo.H = sbus.getSwitchVal(0);
TanakaTarou 0:6db16ad02a1b 210 propo.C = sbus.getSwitchVal(1);
TanakaTarou 0:6db16ad02a1b 211 propo.E = sbus.getSwitchVal(2);
TanakaTarou 0:6db16ad02a1b 212 propo.F = sbus.getSwitchVal(3);
TanakaTarou 0:6db16ad02a1b 213 propo.G = sbus.getSwitchVal(4);
TanakaTarou 0:6db16ad02a1b 214 propo.fail_safe = 1;
TanakaTarou 0:6db16ad02a1b 215 }
TanakaTarou 0:6db16ad02a1b 216
TanakaTarou 0:6db16ad02a1b 217 if(propo.RX < dead_zone && propo.RX > -dead_zone) propo.RX = 0;
TanakaTarou 0:6db16ad02a1b 218 if(propo.RY < dead_zone && propo.RY > -dead_zone) propo.RY = 0;
TanakaTarou 0:6db16ad02a1b 219 if(propo.LX < dead_zone && propo.LX > -dead_zone) propo.LX = 0;
TanakaTarou 0:6db16ad02a1b 220 if(propo.LY < dead_zone && propo.LY > -dead_zone) propo.LY = 0;
TanakaTarou 0:6db16ad02a1b 221 return propo;
TanakaTarou 0:6db16ad02a1b 222 }
TanakaTarou 0:6db16ad02a1b 223
TanakaTarou 3:6b4adb4d7101 224 bool isConvergetnceTops()
TanakaTarou 0:6db16ad02a1b 225 {
TanakaTarou 3:6b4adb4d7101 226 int velocity_pid;
TanakaTarou 3:6b4adb4d7101 227 int angle_pid;
TanakaTarou 3:6b4adb4d7101 228 int velocity_val;
TanakaTarou 3:6b4adb4d7101 229
TanakaTarou 3:6b4adb4d7101 230 velocity_pid = can.get(3, 1);
TanakaTarou 3:6b4adb4d7101 231 angle_pid = can.get(3, 2);
TanakaTarou 3:6b4adb4d7101 232 velocity_val = can.get(3, 3);
TanakaTarou 3:6b4adb4d7101 233
TanakaTarou 3:6b4adb4d7101 234 if(angle_pid == 1 && velocity_pid == 1 && velocity_val == position[posi_num][3])
TanakaTarou 3:6b4adb4d7101 235 return 1;
TanakaTarou 3:6b4adb4d7101 236 else return 0;
TanakaTarou 0:6db16ad02a1b 237 }